initctukf

Syntax

Description

filter = initctukf(detection)
creates and initializes a constant-turn-rate unscented Kalman
filter from information contained in a
detection report. For more information about the unscented
Kalman filter, see trackingUKF.

Create 2-D Constant Turn-rate UKF from Spherical Measurement

Initialize a 2-D constant turn-rate extended Kalman filter from an initial detection report made from an initial measurement in spherical coordinates. If you want to use spherical coordinates, then you must supply a measurement parameter structure as part of the detection report with the Frame field set to 'spherical'. Set the azimuth angle of the target to 45 degrees and the range to 1000 meters.

Output Arguments

filter — Unscented Kalman filtertrackingUKF object

Algorithms

The function computes the process noise matrix assuming a one-second time
step. The function assumes an acceleration standard deviation of 1
m/s2, and a turn-rate acceleration standard
deviation of 1°/s2.